obstacle_range: 1
raytrace_range: 2
robot_radius: 0.17
inflation_radius: 1.0
cost_scaling_factor: 2.0
map_type: costmap
observation_sources: iris_0/scan
iris_0/scan: {sensor_frame: iris_0/laser_2d, data_type: LaserScan, topic: iris_0/scan, marking: true, clearing: true}